Second Order Sliding Mode Control with Prescribed Convergence Law for Electro-Hydraulic Drives

This paper discusses the application of second order sliding modes for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The
target is to introduce increased tracking- and transient performance compared to conventional linear approaches, without extending the number of tuning parameters. The proposed controller utilizes basic component knowledge commonly available from data sheets, as well as pressure-, valve position-, piston position- and velocity measurements. Results demonstrate improved position tracking- and transient performance, compared to a linear control approach, and that control chattering is eliminated without introducing a boundary layer, normally seen in first order sliding mode controlled systems.